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System modeling using Simulinkand SimscapeAbhisek RoySruthi GeethaVeer Alakshendra 2015 The MathWorks, Inc.1
Multi-domainSystems2
Common challenges1. Multi-domain simulation2. Capturing the system dynamics at desired complexity3. Developing controls algorithm3
Scissor Lift4
Scissor Lift5
Agenda Understanding and capturing the behavior of a system– Various approaches of modeling– Example: DC motor Model the Scissor Lift– Hydraulic actuation system– Mechanical System Developing control strategy6
Modeling a DC MotorModel:V VHousingShaftProblem: Model a DC motor withelectrical and mechanical effects7
Different Approaches for Modeling Dynamic SystemsModeling ApproachesFirst Principles ModelingProgrammingData-Driven ModelingPhysical NetworksStatistical Methods(Simscape and otherPhysical Modelingproducts)(Model BasedCalibration Toolbox)(MATLAB, C)Block Diagram(Simulink)Modeling Language(Symbolic MathToolbox)(System IdentificationToolbox)Neural Networks(Simscape language)Symbolic MethodsSystemIdentificationParameter Tuning(Neural NetworkToolbox)(Simulink Design Optimization)8
What is Simulink?The leading environment for modeling,simulating and implementing dynamic andembedded systems Block-diagram environmentModel, simulate, and analyze multi-domainsystemsAccurately design, implement, and test complexsystems for:– Communications– Control– Signal processing– Video and image processingPlatform for Model-Based Design9
Modeling a DC Motor in SimulinkModel:V V-10
How to model a DC Motor in Simulink?Based on its equation:11
Different Approaches for Modeling Dynamic SystemsModeling ApproachesFirst Principles ModelingProgrammingData-Driven ModelingPhysical NetworksStatistical Methods(Simscape and otherPhysical Modelingproducts)(Model BasedCalibration Toolbox)(MATLAB, C)Block Diagram(Simulink)Modeling Language(Symbolic MathToolbox)(System IdentificationToolbox)Neural Networks(Simscape language)Symbolic MethodsSystemIdentificationParameter Tuning(Neural NetworkToolbox)(Simulink Design Optimization)12
Introduction to Simscape13
Modeling a DC MotorModel:V VHousingShaftProblem: Model a DC motor withelectrical and mechanical effectsSolution: Use Simscape to modelthe electromechanical systemas a physical network15
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Agenda Understanding and capturing the behavior of a system– Various approaches of modeling– Example: DC motor Model the Scissor Lift– Hydraulic actuation system– Mechanical System Developing control strategy17
Agenda Understanding and capturing the behavior of a system– Various approaches of modeling– Example: DC motor Model the Scissor Lift– Hydraulic actuation system– Mechanical System Developing control strategy18
Hydraulic actuation19
Hydraulic actuation circuit20
Agenda Understanding and capturing the behavior of a system– Various approaches of modeling– Example: DC motor Model the Scissor Lift– Hydraulic actuation system– Mechanical System Developing control strategy21
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Example: Single PendulumySimple Pendulumxzθ1lmg Simscape Multibody model advantages– Easier to read than equations– Quicker to create– More intuitive – easier to explain to other engineers25
Exercise: Double Pendulumyxzθ1m1 gθ2m2 g26
Mechanical systemDEMO27
Import CAD Data UsingSimscape Multibody Link Automatically create Simscape Multibodymodels from a CAD assembly– Converts mass and inertia to rigid bodies– Converts mate definitions to joints– Creates STEP files for use withSimscape Multibody visualization Simscape Multibody LinkExportDirectly connects SOLIDWORKS,PTC Creo (Pro/ENGINEER )and InventorFree download fromwww.mathworks.com– Requires MATLAB28
Simscape Multibody Link:Convert CAD Assembly to Simscape Mutibody Use Simscape Multibody Link plugin to export from CAD to XMLImport XML file into Simscape Multibody ( smimport)29
Agenda Understanding and capturing the behavior of a system– Various approaches of modeling– Example: DC motor Model the Scissor Lift– Hydraulic actuation system– Mechanical System Developing control strategy30
Call to action Aileron Actuator Development with Model-Based Design Modeling an Engine Cooling System31
% Thank you32
(Neural Network Toolbox) (Model Based Calibration Toolbox) (Simulink Design Optimization) (System Identification Toolbox) 13 Introduction to Simscape. 15 Modeling a DC Motor Problem: Model a DC motor with electrical and mechanical effects Solution: Use Simscape to model the electr
